obstacle_avoidance_planner dies when the interval of path points is long

[kosuke55]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

This is a problem that does not occur with the current hard code, but could potentially occur.

truncated_points size will be 1 when the interval of points in path is less than 5.0. This causes the node to die when it finally accesses seg_idx + 1
The interval between paths of behavior_velocity is 1.0 with interporate, so this is implicitly avoided.

Expected behavior

obstacle_avoidance_planner does not die with any interval of path points.

Actual behavior

obstacle_avoidance_planner dies with interval longer than 5.0.

Steps to reproduce

Set interval of path points greater than clip length

Versions

No response

Possible causes

No response

Additional context

No response

[kosuke55]

@takayuki5168

[mitsudome-r]

@kosuke55 @takayuki5168 Do you have any plan to fix this issue? (or do have any idea about the approach so that others can work on the implementation?)

[kosuke55]

@mitsudome-r
Since this does not currently occur with the current hard code, there are no plans to deal with this issue as a low priority.